基于图像的轮式机器人位置与角度的检测方法

A new way to detect the position and orientation of the wheeled mobile robot on the image plane

提出了一种新的轮式移动机器人位置与角度的检测方法。首先在机器人上方做一个黑色矩形标记,标记物的长边与机器人的正向平行,然后在图像平面内,用CAMShift算法对机器人进行跟踪。在跟踪的过程中,可以获得只包含目标体的子图片,即"感兴趣区域"。子图片的中心即为轮式运动机器人的几何中心。采用适当的方法检测出矩形标记物长边与图像坐标X轴之间的夹角,并以此角度作为机器人的方向角度。

In this paper, a new method to detect wheeled mobile robot＇s position and orientation is proposed. It first pastes a black rectangle board on the robot as a mark, whose long side is parallel to the robot＇s orientation. And then on the image plane, it uses CAMShift to track the robot. As the tracking method is used, it can get a search window which including the robot only. The search window＇ s center is the robot＇ s geometry center. Then it takes appropriate approach to detect the angle between the orientation of the rectangle board＇ s long side and the X axle on the image plane, there the robot＇ s orientation is gotten.